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Merge pull request #2173 from andresv/expose-i2c-async-api-without-time

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STM32 I2C: expose async API without needing "time" feature.
This commit is contained in:
Dario Nieuwenhuis 2023-11-17 23:47:46 +00:00 committed by GitHub
commit 5bc7557826
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 95 additions and 75 deletions
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170
embassy-stm32/src/i2c/v2.rs
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@ -1,21 +1,16 @@
use core::cmp;
#[cfg(feature = "time")]
use core::future::poll_fn;
use core::marker::PhantomData;
#[cfg(feature = "time")]
use core::task::Poll;
use embassy_embedded_hal::SetConfig;
#[cfg(feature = "time")]
use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
#[cfg(feature = "time")]
use embassy_time::{Duration, Instant};
use crate::dma::NoDma;
#[cfg(feature = "time")]
use crate::dma::Transfer;
use crate::dma::{NoDma, Transfer};
use crate::gpio::sealed::AFType;
use crate::gpio::Pull;
use crate::i2c::{Error, Instance, SclPin, SdaPin};
@ -24,6 +19,23 @@ use crate::pac::i2c;
use crate::time::Hertz;
use crate::{interrupt, Peripheral};
#[cfg(feature = "time")]
fn timeout_fn(timeout: Duration) -> impl Fn() -> Result<(), Error> {
let deadline = Instant::now() + timeout;
move || {
if Instant::now() > deadline {
Err(Error::Timeout)
} else {
Ok(())
}
}
}
#[cfg(not(feature = "time"))]
pub fn no_timeout_fn() -> impl Fn() -> Result<(), Error> {
move || Ok(())
}
/// Interrupt handler.
pub struct InterruptHandler<T: Instance> {
_phantom: PhantomData<T>,
@ -260,21 +272,12 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
}
fn flush_txdr(&self) {
//if $i2c.isr.read().txis().bit_is_set() {
//$i2c.txdr.write(|w| w.txdata().bits(0));
//}
if T::regs().isr().read().txis() {
T::regs().txdr().write(|w| w.set_txdata(0));
}
if !T::regs().isr().read().txe() {
T::regs().isr().modify(|w| w.set_txe(true))
}
// If TXDR is not flagged as empty, write 1 to flush it
//if $i2c.isr.read().txe().is_not_empty() {
//$i2c.isr.write(|w| w.txe().set_bit());
//}
}
fn wait_txe(&self, check_timeout: impl Fn() -> Result<(), Error>) -> Result<(), Error> {
@ -437,7 +440,6 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
result
}
#[cfg(feature = "time")]
async fn write_dma_internal(
&mut self,
address: u8,
@ -528,7 +530,6 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
Ok(())
}
#[cfg(feature = "time")]
async fn read_dma_internal(
&mut self,
address: u8,
@ -610,42 +611,38 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
// =========================
// Async public API
#[cfg(feature = "time")]
pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error>
where
TXDMA: crate::i2c::TxDma<T>,
{
self.write_timeout(address, write, self.timeout).await
}
#[cfg(feature = "time")]
pub async fn write_timeout(&mut self, address: u8, write: &[u8], timeout: Duration) -> Result<(), Error>
where
TXDMA: crate::i2c::TxDma<T>,
{
if write.is_empty() {
self.write_internal(address, write, true, timeout_fn(timeout))
self.write_internal(address, write, true, timeout_fn(self.timeout))
} else {
embassy_time::with_timeout(
timeout,
self.write_dma_internal(address, write, true, true, timeout_fn(timeout)),
self.timeout,
self.write_dma_internal(address, write, true, true, timeout_fn(self.timeout)),
)
.await
.unwrap_or(Err(Error::Timeout))
}
}
#[cfg(feature = "time")]
pub async fn write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error>
#[cfg(not(feature = "time"))]
pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error>
where
TXDMA: crate::i2c::TxDma<T>,
{
self.write_vectored_timeout(address, write, self.timeout).await
if write.is_empty() {
self.write_internal(address, write, true, no_timeout_fn())
} else {
self.write_dma_internal(address, write, true, true, no_timeout_fn())
.await
}
}
#[cfg(feature = "time")]
pub async fn write_vectored_timeout(&mut self, address: u8, write: &[&[u8]], timeout: Duration) -> Result<(), Error>
pub async fn write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error>
where
TXDMA: crate::i2c::TxDma<T>,
{
@ -661,8 +658,8 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
let is_last = next.is_none();
embassy_time::with_timeout(
timeout,
self.write_dma_internal(address, c, first, is_last, timeout_fn(timeout)),
self.timeout,
self.write_dma_internal(address, c, first, is_last, timeout_fn(self.timeout)),
)
.await
.unwrap_or(Err(Error::Timeout))?;
@ -672,66 +669,79 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
Ok(())
}
#[cfg(not(feature = "time"))]
pub async fn write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error>
where
TXDMA: crate::i2c::TxDma<T>,
{
if write.is_empty() {
return Err(Error::ZeroLengthTransfer);
}
let mut iter = write.iter();
let mut first = true;
let mut current = iter.next();
while let Some(c) = current {
let next = iter.next();
let is_last = next.is_none();
self.write_dma_internal(address, c, first, is_last, no_timeout_fn())
.await?;
first = false;
current = next;
}
Ok(())
}
#[cfg(feature = "time")]
pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error>
where
RXDMA: crate::i2c::RxDma<T>,
{
self.read_timeout(address, buffer, self.timeout).await
if buffer.is_empty() {
self.read_internal(address, buffer, false, timeout_fn(self.timeout))
} else {
embassy_time::with_timeout(
self.timeout,
self.read_dma_internal(address, buffer, false, timeout_fn(self.timeout)),
)
.await
.unwrap_or(Err(Error::Timeout))
}
}
#[cfg(feature = "time")]
pub async fn read_timeout(&mut self, address: u8, buffer: &mut [u8], timeout: Duration) -> Result<(), Error>
#[cfg(not(feature = "time"))]
pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error>
where
RXDMA: crate::i2c::RxDma<T>,
{
if buffer.is_empty() {
self.read_internal(address, buffer, false, timeout_fn(timeout))
self.read_internal(address, buffer, false, no_timeout_fn())
} else {
embassy_time::with_timeout(
timeout,
self.read_dma_internal(address, buffer, false, timeout_fn(timeout)),
)
.await
.unwrap_or(Err(Error::Timeout))
self.read_dma_internal(address, buffer, false, no_timeout_fn()).await
}
}
#[cfg(feature = "time")]
pub async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error>
where
TXDMA: super::TxDma<T>,
RXDMA: super::RxDma<T>,
{
self.write_read_timeout(address, write, read, self.timeout).await
}
#[cfg(feature = "time")]
pub async fn write_read_timeout(
&mut self,
address: u8,
write: &[u8],
read: &mut [u8],
timeout: Duration,
) -> Result<(), Error>
where
TXDMA: super::TxDma<T>,
RXDMA: super::RxDma<T>,
{
let start_instant = Instant::now();
let check_timeout = timeout_fn(timeout);
let check_timeout = timeout_fn(self.timeout);
if write.is_empty() {
self.write_internal(address, write, false, &check_timeout)?;
} else {
embassy_time::with_timeout(
timeout,
self.timeout,
self.write_dma_internal(address, write, true, true, &check_timeout),
)
.await
.unwrap_or(Err(Error::Timeout))?;
}
let time_left_until_timeout = timeout - Instant::now().duration_since(start_instant);
let time_left_until_timeout = self.timeout - Instant::now().duration_since(start_instant);
if read.is_empty() {
self.read_internal(address, read, true, &check_timeout)?;
@ -747,6 +757,28 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
Ok(())
}
#[cfg(not(feature = "time"))]
pub async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error>
where
TXDMA: super::TxDma<T>,
RXDMA: super::RxDma<T>,
{
let no_timeout = no_timeout_fn();
if write.is_empty() {
self.write_internal(address, write, false, &no_timeout)?;
} else {
self.write_dma_internal(address, write, true, true, &no_timeout).await?;
}
if read.is_empty() {
self.read_internal(address, read, true, &no_timeout)?;
} else {
self.read_dma_internal(address, read, true, &no_timeout).await?;
}
Ok(())
}
// =========================
// Blocking public API
@ -1201,15 +1233,3 @@ impl<'d, T: Instance> SetConfig for I2c<'d, T> {
Ok(())
}
}
#[cfg(feature = "time")]
fn timeout_fn(timeout: Duration) -> impl Fn() -> Result<(), Error> {
let deadline = Instant::now() + timeout;
move || {
if Instant::now() > deadline {
Err(Error::Timeout)
} else {
Ok(())
}
}
}